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add comments and TODO

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This commit is contained in:
Jason Wen
2024-07-26 11:35:59 -04:00
parent 546201438c
commit 39383f6d23
1 changed files with 4 additions and 1 deletions
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selfdrive/car/hyundai/carcontroller.py
+4 -1
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@@ -211,8 +211,11 @@ class CarController(CarControllerBase):
return can_sends
# We currently use static jerk limits for all accel commands, the PCM is very sensitive to how accels are being
# sent from the SCC source of truth. Dynamic jerk upper/lower limits are required to make PCM accept controls
# more smoothly
def create_accel_value(self, CC, accel):
rate = 0.1
rate = 0.1 # TODO: Dynamic jerk upper/lower limits should change this for more accurate and smoother controls
if not CC.enabled:
self.accel_raw, self.accel_val = 0, 0
else: